#include <visp3/robot/vpRobotPtu46.h>

Inheritance diagram for vpRobotPtu46:

Public Types
enum	vpRobotStateType { STATE_STOP, STATE_VELOCITY_CONTROL, STATE_POSITION_CONTROL, STATE_ACCELERATION_CONTROL, STATE_FORCE_TORQUE_CONTROL }

enum	vpControlFrameType { REFERENCE_FRAME, ARTICULAR_FRAME, JOINT_STATE = ARTICULAR_FRAME, END_EFFECTOR_FRAME, CAMERA_FRAME, TOOL_FRAME = CAMERA_FRAME, MIXT_FRAME }

Public Member Functions
	vpRobotPtu46 (const char *device="/dev/ttyS0")

	vpRobotPtu46 (vpRobotPtu46 *pub)

virtual	~vpRobotPtu46 (void)

void	get_cMe (vpHomogeneousMatrix &_cMe) const

void	get_cVe (vpVelocityTwistMatrix &_cVe) const

void	get_eJe (vpMatrix &_eJe)

void	get_fJe (vpMatrix &_fJe)

void	getDisplacement (vpRobot::vpControlFrameType frame, vpColVector &q)

void	getPosition (const vpRobot::vpControlFrameType frame, vpColVector &q)

double	getPositioningVelocity (void)

void	getVelocity (const vpRobot::vpControlFrameType frame, vpColVector &q_dot)

vpColVector	getVelocity (const vpRobot::vpControlFrameType frame)

void	init (void)

bool	readPositionFile (const std::string &filename, vpColVector &q)

void	setPosition (const vpRobot::vpControlFrameType frame, const vpColVector &q)

void	setPosition (const vpRobot::vpControlFrameType frame, const double &q1, const double &q2)

void	setPosition (const char *filename)

void	setPositioningVelocity (double velocity)

vpRobot::vpRobotStateType	setRobotState (vpRobot::vpRobotStateType newState)

void	setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &q_dot)

void	stopMotion ()

Inherited functionalities from vpPtu46
void	computeMGD (const vpColVector &q, vpHomogeneousMatrix &fMc) const

vpHomogeneousMatrix	computeMGD (const vpColVector &q) const

void	computeMGD (const vpColVector &q, vpPoseVector &r) const

void	get_eJe (const vpColVector &q, vpMatrix &eJe) const

void	get_fJe (const vpColVector &q, vpMatrix &fJe) const

Inherited functionalities from vpRobot
double	getMaxTranslationVelocity (void) const

double	getMaxRotationVelocity (void) const

vpColVector	getPosition (const vpRobot::vpControlFrameType frame)

virtual vpRobotStateType	getRobotState (void) const

void	setMaxRotationVelocity (double maxVr)

void	setMaxTranslationVelocity (double maxVt)

void	setVerbose (bool verbose)

Static Public Member Functions
Static Public Member Functions inherited from vpRobot
static vpColVector	saturateVelocities (const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)

Static Public Attributes
static const double	defaultPositioningVelocity = 10.0

static const unsigned int	ndof = 2

static const float	L = 0.0765f

static const float	h = 0.068f

Protected Member Functions
Protected Member Functions Inherited from vpRobot
vpControlFrameType	setRobotFrame (vpRobot::vpControlFrameType newFrame)

vpControlFrameType	getRobotFrame (void) const

Protected Attributes
double	maxTranslationVelocity

double	maxRotationVelocity

int	nDof

vpMatrix	eJe

int	eJeAvailable

vpMatrix	fJe

int	fJeAvailable

int	areJointLimitsAvailable

double *	qmin

double *	qmax

bool	verbose_

Static Protected Attributes
static const double	maxTranslationVelocityDefault = 0.2

static const double	maxRotationVelocityDefault = 0.7

Detailed Description

Interface for the Directed Perception ptu-46 pan, tilt head .

See http://www.DPerception.com for more details.

This class provide a position and a speed control interface for the ptu-46 head.

Examples:: movePtu46.cpp, and servoPtu46Point2DArtVelocity.cpp.

Definition at line 80 of file vpRobotPtu46.h.

Member Enumeration Documentation

◆ vpControlFrameType

enum vpRobot::vpControlFrameType

inherited

Robot control frames.

Enumerator
REFERENCE_FRAME	Corresponds to a fixed reference frame attached to the robot structure.
ARTICULAR_FRAME	Corresponds to the joint state. This value is deprecated. You should rather use vpRobot::JOINT_STATE.
JOINT_STATE	Corresponds to the joint state.
END_EFFECTOR_FRAME	Corresponds to robot end-effector frame.
CAMERA_FRAME	Corresponds to a frame attached to the camera mounted on the robot end-effector.
TOOL_FRAME	Corresponds to a frame attached to the tool (camera, gripper...) mounted on the robot end-effector. This value is equal to vpRobot::CAMERA_FRAME.
MIXT_FRAME	Corresponds to a "virtual" frame where translations are expressed in the reference frame, and rotations in the camera frame.

Definition at line 75 of file vpRobot.h.

◆ vpRobotStateType

enum vpRobot::vpRobotStateType

inherited

Robot control states.

Enumerator
STATE_STOP	Stops robot motion especially in velocity and acceleration control.
STATE_VELOCITY_CONTROL	Initialize the velocity controller.
STATE_POSITION_CONTROL	Initialize the position controller.
STATE_ACCELERATION_CONTROL	Initialize the acceleration controller.
STATE_FORCE_TORQUE_CONTROL	Initialize the force/torque controller.

Definition at line 64 of file vpRobot.h.

Constructor & Destructor Documentation

◆ vpRobotPtu46() [1/2]

vpRobotPtu46::vpRobotPtu46 ( const char * device = "/dev/ttyS0" )

explicit

Default constructor.

Initialize the ptu-46 pan, tilt head by opening the serial port.

See also: init()

Definition at line 72 of file vpRobotPtu46.cpp.

References defaultPositioningVelocity, init(), setRobotState(), vpRobot::STATE_STOP, vpDEBUG_TRACE, and vpERROR_TRACE.

◆ vpRobotPtu46() [2/2]

vpRobotPtu46::vpRobotPtu46 ( vpRobotPtu46 * pub )

explicit

◆ ~vpRobotPtu46()

vpRobotPtu46::~vpRobotPtu46 ( void )

virtual

Destructor. Close the serial connection with the head.

Definition at line 108 of file vpRobotPtu46.cpp.

References setRobotState(), vpRobot::STATE_STOP, and vpERROR_TRACE.

Member Function Documentation

◆ computeMGD() [1/3]

void vpPtu46::computeMGD	(	const vpColVector &	q,
		vpHomogeneousMatrix &	fMc
	)		const

inherited

Compute the direct geometric model of the camera: fMc

Parameters

q	: Articular position for pan and tilt axis.
fMc	: Homogeneous matrix corresponding to the direct geometric model of the camera. Describes the transformation between the robot reference frame (called fixed) and the camera frame.

Definition at line 70 of file vpPtu46.cpp.

References vpException::dimensionError, vpArray2D< Type >::getRows(), vpPtu46::h, vpPtu46::L, vpCDEBUG, and vpERROR_TRACE.

Referenced by vpPtu46::computeMGD().

◆ computeMGD() [2/3]

vpHomogeneousMatrix vpPtu46::computeMGD ( const vpColVector & q ) const

inherited

Return the direct geometric model of the camera: fMc

Parameters

q	: Articular position for pan and tilt axis.

Returns: fMc, the homogeneous matrix corresponding to the direct geometric model of the camera. Describes the transformation between the robot reference frame (called fixed) and the camera frame.

Definition at line 120 of file vpPtu46.cpp.

References vpPtu46::computeMGD().

◆ computeMGD() [3/3]

void vpPtu46::computeMGD	(	const vpColVector &	q,
		vpPoseVector &	r
	)		const

inherited

Compute the direct geometric model of the camera in terms of pose vector.

Parameters

q	: Articular position for pan and tilt axis.
r	: Pose vector corresponding to the transformation between the robot reference frame (called fixed) and the camera frame.

Definition at line 138 of file vpPtu46.cpp.

References vpPoseVector::buildFrom(), vpPtu46::computeMGD(), and vpHomogeneousMatrix::inverse().

◆ get_cMe()

void vpRobotPtu46::get_cMe ( vpHomogeneousMatrix & cMe ) const

Get the homogeneous matrix corresponding to the transformation between the camera frame and the end effector frame. The end effector frame is located on the tilt axis.

Parameters

cMe	: Homogeneous matrix between camera and end effector frame.

Definition at line 228 of file vpRobotPtu46.cpp.

References vpPtu46::get_cMe().

◆ get_cVe()

void vpRobotPtu46::get_cVe ( vpVelocityTwistMatrix & cVe ) const

Get the twist matrix corresponding to the transformation between the camera frame and the end effector frame. The end effector frame is located on the tilt axis.

Parameters

cVe	: Twist transformation between camera and end effector frame to expess a velocity skew from end effector frame in camera frame.

Examples:: servoPtu46Point2DArtVelocity.cpp.

Definition at line 211 of file vpRobotPtu46.cpp.

References vpVelocityTwistMatrix::buildFrom(), and vpPtu46::get_cMe().

◆ get_eJe() [1/2]

void vpPtu46::get_eJe	(	const vpColVector &	q,
		vpMatrix &	eJe
	)		const

inherited

Get the robot jacobian expressed in the end-effector frame.

Warning: Re is not the embedded camera frame. It corresponds to the frame associated to the tilt axis (see also get_cMe).

Parameters

q	: Articular position for pan and tilt axis.
eJe	: Jacobian between end effector frame and end effector frame (on tilt axis).

Definition at line 249 of file vpPtu46.cpp.

References vpException::dimensionError, vpArray2D< Type >::getRows(), vpArray2D< Type >::resize(), and vpERROR_TRACE.

Referenced by get_eJe().

◆ get_eJe() [2/2]

void vpRobotPtu46::get_eJe ( vpMatrix & eJe )

virtual

Get the robot jacobian expressed in the end-effector frame.

Warning: Re is not the embedded camera frame. It corresponds to the frame associated to the tilt axis (see also get_cMe).

Parameters

eJe	: Jacobian between end effector frame and end effector frame (on tilt axis).

Implements vpRobot.

Examples:: servoPtu46Point2DArtVelocity.cpp.

Definition at line 240 of file vpRobotPtu46.cpp.

References vpRobot::ARTICULAR_FRAME, vpPtu46::get_eJe(), getPosition(), and vpERROR_TRACE.

◆ get_fJe() [1/2]

void vpPtu46::get_fJe	(	const vpColVector &	q,
		vpMatrix &	fJe
	)		const

inherited

Get the robot jacobian expressed in the robot reference frame

Parameters

q	: Articular position for pan and tilt axis.
fJe	: Jacobian between reference frame (or fix frame) and end effector frame (on tilt axis).

Definition at line 278 of file vpPtu46.cpp.

References vpException::dimensionError, vpArray2D< Type >::getRows(), vpArray2D< Type >::resize(), and vpERROR_TRACE.

Referenced by get_fJe().

◆ get_fJe() [2/2]

void vpRobotPtu46::get_fJe ( vpMatrix & fJe )

virtual

Get the robot jacobian expressed in the robot reference frame

Parameters

fJe	: Jacobian between reference frame (or fix frame) and end effector frame (on tilt axis).

Implements vpRobot.

Definition at line 260 of file vpRobotPtu46.cpp.

References vpRobot::ARTICULAR_FRAME, vpPtu46::get_fJe(), getPosition(), and vpERROR_TRACE.

◆ getDisplacement()

void vpRobotPtu46::getDisplacement	(	vpRobot::vpControlFrameType	frame,
		vpColVector &	d
	)

virtual

Get the robot displacement since the last call of this method.

Warning: The first call of this method gives not a good value for the displacement.

Parameters

frame	The frame in which the measured displacement is expressed.
d	The displacement: In articular, the dimension of q is 2 (the number of axis of the robot) with respectively d[0] (pan displacement), d[1] (tilt displacement). In camera frame, the dimension of d is 6 (tx, ty, ty, rx, ry, rz). Translations are expressed in meters, rotations in radians.

Exceptions

vpRobotException::wrongStateError If a not supported frame type is given.

Implements vpRobot.

Definition at line 738 of file vpRobotPtu46.cpp.

References vpRobot::ARTICULAR_FRAME, vpRobot::CAMERA_FRAME, vpRobot::END_EFFECTOR_FRAME, vpRobot::MIXT_FRAME, vpPtu46::ndof, vpRobot::REFERENCE_FRAME, vpColVector::resize(), and vpRobotException::wrongStateError.

◆ getMaxRotationVelocity()

double vpRobot::getMaxRotationVelocity ( void ) const

inherited

Get the maximal rotation velocity that can be sent to the robot during a velocity control.

Returns: Maximum rotation velocity expressed in rad/s.

Definition at line 273 of file vpRobot.cpp.

References vpRobot::maxRotationVelocity.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpSimulatorAfma6::findHighestPositioningSpeed(), vpSimulatorViper850::findHighestPositioningSpeed(), vpSimulatorAfma6::setPosition(), vpRobotTemplate::setVelocity(), vpSimulatorCamera::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotFlirPtu::setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotFranka::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().

◆ getMaxTranslationVelocity()

double vpRobot::getMaxTranslationVelocity ( void ) const

inherited

Get the maximal translation velocity that can be sent to the robot during a velocity control.

Returns: Maximum translational velocity expressed in m/s.

Definition at line 251 of file vpRobot.cpp.

References vpRobot::maxTranslationVelocity.

Referenced by vpSimulatorAfma6::setPosition(), vpRobotTemplate::setVelocity(), vpSimulatorCamera::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotFlirPtu::setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotFranka::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().

◆ getPosition() [1/2]

void vpRobotPtu46::getPosition	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	q
	)

virtual

Return the position of each axis.

Parameters

frame	: Control frame. This head can only be controlled in articular.
q	: The position of the axis.

Exceptions

vpRobotException::wrongStateError : If a not supported frame type is given.

Implements vpRobot.

Examples:: movePtu46.cpp.

Definition at line 414 of file vpRobotPtu46.cpp.

References vpRobot::ARTICULAR_FRAME, vpRobot::CAMERA_FRAME, vpRobot::END_EFFECTOR_FRAME, vpRobotException::lowLevelError, vpRobot::MIXT_FRAME, vpPtu46::ndof, vpRobot::REFERENCE_FRAME, vpColVector::resize(), vpDEBUG_TRACE, vpERROR_TRACE, and vpRobotException::wrongStateError.

Referenced by get_eJe(), and get_fJe().

◆ getPosition() [2/2]

vpColVector vpRobot::getPosition ( const vpRobot::vpControlFrameType frame )

inherited

Return the current robot position in the specified frame.

Definition at line 216 of file vpRobot.cpp.

References vpRobot::getPosition().

◆ getPositioningVelocity()

double vpRobotPtu46::getPositioningVelocity ( void )

Get the velocity in % used for a position control.

Returns: Positionning velocity in [0, 100]

Definition at line 286 of file vpRobotPtu46.cpp.

◆ getRobotFrame()

vpControlFrameType vpRobot::getRobotFrame ( void ) const

inlineprotectedinherited

Definition at line 172 of file vpRobot.h.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), and vpSimulatorViper850::computeArticularVelocity().

◆ getRobotState()

virtual vpRobotStateType vpRobot::getRobotState ( void ) const

inlinevirtualinherited

Definition at line 144 of file vpRobot.h.

Referenced by vpRobotBiclops::getPosition(), vpRobotBiclops::getVelocity(), setPosition(), vpRobotBiclops::setPosition(), vpSimulatorCamera::setPosition(), vpRobotCamera::setPosition(), vpSimulatorAfma6::setPosition(), vpRobotAfma4::setPosition(), vpSimulatorViper850::setPosition(), vpRobotAfma6::setPosition(), vpRobotFranka::setPosition(), vpRobotViper650::setPosition(), vpRobotViper850::setPosition(), setRobotState(), vpRobotBiclops::setRobotState(), vpRobotFlirPtu::setRobotState(), vpSimulatorAfma6::setRobotState(), vpSimulatorViper850::setRobotState(), vpRobotAfma4::setRobotState(), vpRobotAfma6::setRobotState(), vpRobotFranka::setRobotState(), vpRobotViper650::setRobotState(), vpRobotViper850::setRobotState(), vpRobotTemplate::setVelocity(), setVelocity(), vpRobotBiclops::setVelocity(), vpSimulatorCamera::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotFlirPtu::setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotFranka::setVelocity(), vpRobotViper650::setVelocity(), vpRobotViper850::setVelocity(), vpRobotFlirPtu::stopMotion(), vpSimulatorAfma6::stopMotion(), vpSimulatorViper850::stopMotion(), vpRobotFranka::stopMotion(), vpRobotViper650::stopMotion(), and vpRobotViper850::stopMotion().

◆ getVelocity() [1/2]

void vpRobotPtu46::getVelocity	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	q_dot
	)

Get the articular velocity.

Parameters

frame	: Control frame. This head can only be controlled in articular.
q_dot	: The measured articular velocity in rad/s.

Exceptions

vpRobotException::wrongStateError : If a not supported frame type is given.

Definition at line 586 of file vpRobotPtu46.cpp.

References vpRobot::ARTICULAR_FRAME, vpRobot::CAMERA_FRAME, vpRobot::END_EFFECTOR_FRAME, vpRobot::MIXT_FRAME, vpPtu46::ndof, vpRobot::REFERENCE_FRAME, vpColVector::resize(), and vpRobotException::wrongStateError.

Referenced by getVelocity().

◆ getVelocity() [2/2]

vpColVector vpRobotPtu46::getVelocity ( const vpRobot::vpControlFrameType frame )

Return the articular velocity.

Parameters

frame : Control frame. This head can only be controlled in articular.

Returns: The measured articular velocity in rad/s.

Exceptions

vpRobotException::wrongStateError : If a not supported frame type is given.

Definition at line 634 of file vpRobotPtu46.cpp.

References getVelocity().

◆ init()

void vpRobotPtu46::init ( void )

virtual

Open the serial port.

Exceptions

vpRobotException::constructionError : If the device cannot be oppened.

Implements vpRobot.

Definition at line 140 of file vpRobotPtu46.cpp.

References vpRobotException::constructionError, vpDEBUG_TRACE, and vpERROR_TRACE.

Referenced by vpRobotPtu46().

◆ readPositionFile()

bool vpRobotPtu46::readPositionFile	(	const std::string &	filename,
		vpColVector &	q
	)

Get an articular position from the position file.

Parameters

filename	: Position file.
q	: The articular position read in the file.

# Example of ptu-46 position file
# The axis positions must be preceed by R:
# First value : pan  articular position in degrees
# Second value: tilt articular position in degrees
R: 15.0 5.0

Returns: true if a position was found, false otherwise.

Definition at line 661 of file vpRobotPtu46.cpp.

References vpColVector::deg2rad(), vpPtu46::ndof, vpColVector::resize(), and vpIoTools::splitChain().

Referenced by setPosition().

◆ saturateVelocities()

vpColVector vpRobot::saturateVelocities	(	const vpColVector &	v_in,
		const vpColVector &	v_max,
		bool	verbose = `false`
	)

staticinherited

Saturate velocities.

Parameters

v_in	: Vector of input velocities to saturate. Translation velocities should be expressed in m/s while rotation velocities in rad/s.
v_max	: Vector of maximal allowed velocities. Maximal translation velocities should be expressed in m/s while maximal rotation velocities in rad/s.
verbose	: Print a message indicating which axis causes the saturation.

Returns: Saturated velocities.

Exceptions

vpRobotException::dimensionError : If the input vectors have different dimensions.

The code below shows how to use this static method in order to saturate a velocity skew vector.

#include <iostream>
#include <visp3/robot/vpRobot.h>
int main()
{
  // Set a velocity skew vector
  vpColVector v(6);
  v[0] = 0.1;               // vx in m/s
  v[1] = 0.2;               // vy
  v[2] = 0.3;               // vz
  v[3] = vpMath::rad(10);   // wx in rad/s
  v[4] = vpMath::rad(-10);  // wy
  v[5] = vpMath::rad(20);   // wz
  // Set the maximal allowed velocities
  vpColVector v_max(6);
  for (int i=0; i<3; i++)
    v_max[i] = 0.3;             // in translation (m/s)
  for (int i=3; i<6; i++)
    v_max[i] = vpMath::rad(10); // in rotation (rad/s)
  // Compute the saturated velocity skew vector
  vpColVector v_sat = vpRobot::saturateVelocities(v, v_max, true);
  std::cout << "v    : " << v.t() << std::endl;
  std::cout << "v max: " << v_max.t() << std::endl;
  std::cout << "v sat: " << v_sat.t() << std::endl;
  return 0;
}

Definition at line 163 of file vpRobot.cpp.

References vpException::dimensionError, and vpArray2D< Type >::size().

Referenced by vpRobotTemplate::setVelocity(), vpSimulatorCamera::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotFlirPtu::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotFranka::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().

◆ setMaxRotationVelocity()

void vpRobot::setMaxRotationVelocity ( double w_max )

inherited

Set the maximal rotation velocity that can be sent to the robot during a velocity control.

Parameters

w_max : Maximum rotational velocity expressed in rad/s.

Examples:: servoMomentPoints.cpp, servoSimu4Points.cpp, servoSimuSphere.cpp, testFeatureSegment.cpp, testFrankaJointVelocityLimits.cpp, and testRobotFlirPtu.cpp.

Definition at line 260 of file vpRobot.cpp.

References vpRobot::maxRotationVelocity.

Referenced by vpRobotViper650::getControlMode(), vpRobotViper850::getControlMode(), vpRobotViper650::setMaxRotationVelocity(), vpRobotViper850::setMaxRotationVelocity(), vpSimulatorAfma6::setPosition(), vpRobotCamera::vpRobotCamera(), and vpSimulatorCamera::vpSimulatorCamera().

◆ setMaxTranslationVelocity()

void vpRobot::setMaxTranslationVelocity ( double v_max )

inherited

Set the maximal translation velocity that can be sent to the robot during a velocity control.

Parameters

v_max : Maximum translation velocity expressed in m/s.

Examples:: servoMomentPoints.cpp, servoSimu4Points.cpp, servoSimuSphere.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, and testFeatureSegment.cpp.

Definition at line 239 of file vpRobot.cpp.

References vpRobot::maxTranslationVelocity.

Referenced by vpSimulatorAfma6::setPosition(), vpRobotCamera::vpRobotCamera(), and vpSimulatorCamera::vpSimulatorCamera().

◆ setPosition() [1/3]

void vpRobotPtu46::setPosition	(	const vpRobot::vpControlFrameType	frame,
		const vpColVector &	q
	)

virtual

Move the robot in position control.

Warning: This method is blocking. That mean that it waits the end of the positionning.

Parameters

frame	: Control frame. This head can only be controlled in articular.
q	: The position to set for each axis.

Exceptions

vpRobotException::wrongStateError : If a not supported frame type is given.

Implements vpRobot.

Examples:: movePtu46.cpp, and servoPtu46Point2DArtVelocity.cpp.

Definition at line 304 of file vpRobotPtu46.cpp.

References vpRobot::ARTICULAR_FRAME, vpRobot::CAMERA_FRAME, vpRobot::END_EFFECTOR_FRAME, vpRobot::getRobotState(), vpRobotException::lowLevelError, vpRobot::MIXT_FRAME, vpRobot::REFERENCE_FRAME, setRobotState(), vpRobot::STATE_POSITION_CONTROL, vpERROR_TRACE, and vpRobotException::wrongStateError.

Referenced by setPosition().

◆ setPosition() [2/3]

void vpRobotPtu46::setPosition	(	const vpRobot::vpControlFrameType	frame,
		const double &	q1,
		const double &	q2
	)

Move the robot in position control.

Warning: This method is blocking. That mean that it wait the end of the positionning.

Parameters

frame	: Control frame. This head can only be controlled in articular.
q1	: The pan position to set.
q2	: The tilt position to set.

Exceptions

vpRobotException::wrongStateError : If a not supported frame type is given.

Definition at line 364 of file vpRobotPtu46.cpp.

References setPosition(), and vpERROR_TRACE.

◆ setPosition() [3/3]

void vpRobotPtu46::setPosition ( const char * filename )

Read the content of the position file and moves to head to articular position.

Parameters

filename : Position filename

Exceptions

vpRobotException::readingParametersError : If the articular position cannot be read from file.

See also: readPositionFile()

Definition at line 391 of file vpRobotPtu46.cpp.

References vpRobot::ARTICULAR_FRAME, vpRobotException::readingParametersError, readPositionFile(), setPosition(), and vpERROR_TRACE.

◆ setPositioningVelocity()

void vpRobotPtu46::setPositioningVelocity ( double velocity )

Set the velocity used for a position control.

Parameters

velocity : Velocity in % of the maximum velocity between [0,100].

Definition at line 279 of file vpRobotPtu46.cpp.

◆ setRobotFrame()

vpRobot::vpControlFrameType vpRobot::setRobotFrame ( vpRobot::vpControlFrameType newFrame )

protectedinherited

Definition at line 207 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::init(), vpSimulatorViper850::init(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpSimulatorAfma6::setVelocity(), and vpSimulatorViper850::setVelocity().

◆ setRobotState()

vpRobot::vpRobotStateType vpRobotPtu46::setRobotState ( vpRobot::vpRobotStateType newState )

virtual

Change the state of the robot either to stop them, or to set position or speed control.

Reimplemented from vpRobot.

Examples:: movePtu46.cpp, and servoPtu46Point2DArtVelocity.cpp.

Definition at line 158 of file vpRobotPtu46.cpp.

References vpRobot::getRobotState(), vpRobot::setRobotState(), vpRobot::STATE_POSITION_CONTROL, vpRobot::STATE_STOP, vpRobot::STATE_VELOCITY_CONTROL, and vpDEBUG_TRACE.

Referenced by setPosition(), stopMotion(), vpRobotPtu46(), and ~vpRobotPtu46().

◆ setVelocity()

void vpRobotPtu46::setVelocity	(	const vpRobot::vpControlFrameType	frame,
		const vpColVector &	v
	)

virtual

Send a velocity on each axis.

Parameters

frame	: Control frame. This head can only be controlled in articular and camera frame. Be aware, the reference frame (vpRobot::REFERENCE_FRAME) end-effector frame (vpRobot::END_EFFECTOR_FRAME) and the mixt frame (vpRobot::MIXT_FRAME) are not implemented.
v	: The desired velocity of the axis. The size of this vector is always 2. Velocities are expressed in rad/s.

In camera frame, $v = [\omega_x, \omega_y]^t$ expressed in rad/s.
In articular, we control the 2 dof, $v = [\dot{q}_1, \dot{q}_2]^t$ with $\dot{q}_1$ the pan of the camera and $\dot{q}_2$ the tilt of the camera in rad/s.

Exceptions

vpRobotException::wrongStateError	: If a the robot is not configured to handle a velocity. The robot can handle a velocity only if the velocity control mode is set. For that, call setRobotState( vpRobot::STATE_VELOCITY_CONTROL) before setVelocity().
vpRobotException::wrongStateError	: If a non supported frame type (vpRobot::REFERENCE_FRAME, vpRobot::END_EFFECTOR_FRAME, vpRobot::MIXT_FRAME) is given.

Warning: Velocities could be saturated if one of them exceed the maximal autorized speed (see vpRobot::maxRotationVelocity).

Implements vpRobot.

Examples:: movePtu46.cpp, and servoPtu46Point2DArtVelocity.cpp.

Definition at line 482 of file vpRobotPtu46.cpp.

References vpRobot::ARTICULAR_FRAME, vpRobot::CAMERA_FRAME, vpRobot::END_EFFECTOR_FRAME, vpRobot::getRobotState(), vpArray2D< Type >::getRows(), vpRobot::maxRotationVelocity, vpRobot::MIXT_FRAME, vpRobot::REFERENCE_FRAME, vpRobot::STATE_VELOCITY_CONTROL, vpCDEBUG, vpDEBUG_TRACE, vpERROR_TRACE, and vpRobotException::wrongStateError.

◆ setVerbose()

void vpRobot::setVerbose ( bool verbose )

inlineinherited

Examples:: tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, and tutorial-ibvs-4pts-wireframe-robot-viper.cpp.

Definition at line 159 of file vpRobot.h.

Referenced by vpRobotAfma4::vpRobotAfma4(), vpRobotAfma6::vpRobotAfma6(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().

◆ stopMotion()

void vpRobotPtu46::stopMotion ( void )

Halt all the axis.

Definition at line 195 of file vpRobotPtu46.cpp.

References setRobotState(), and vpRobot::STATE_STOP.

Member Data Documentation

◆ areJointLimitsAvailable

int vpRobot::areJointLimitsAvailable

protectedinherited

Definition at line 112 of file vpRobot.h.

Referenced by vpRobot::operator=(), vpRobotCamera::vpRobotCamera(), vpSimulatorCamera::vpSimulatorCamera(), vpSimulatorPioneer::vpSimulatorPioneer(), and vpSimulatorPioneerPan::vpSimulatorPioneerPan().

◆ defaultPositioningVelocity

const double vpRobotPtu46::defaultPositioningVelocity = 10.0

static

Definition at line 97 of file vpRobotPtu46.h.

Referenced by vpRobotPtu46().

◆ eJe

vpMatrix vpRobot::eJe

protectedinherited

robot Jacobian expressed in the end-effector frame

Definition at line 104 of file vpRobot.h.

Referenced by vpRobotFlirPtu::get_eJe(), vpSimulatorCamera::get_eJe(), vpRobotCamera::get_eJe(), vpRobot::operator=(), vpRobotAfma4::setVelocity(), vpRobotCamera::vpRobotCamera(), and vpSimulatorCamera::vpSimulatorCamera().

◆ eJeAvailable

int vpRobot::eJeAvailable

protectedinherited

is the robot Jacobian expressed in the end-effector frame available

Definition at line 106 of file vpRobot.h.

Referenced by vpRobot::operator=(), vpRobotCamera::vpRobotCamera(), vpSimulatorCamera::vpSimulatorCamera(), vpSimulatorPioneer::vpSimulatorPioneer(), and vpSimulatorPioneerPan::vpSimulatorPioneerPan().

◆ fJe

vpMatrix vpRobot::fJe

protectedinherited

robot Jacobian expressed in the robot reference frame available

Definition at line 108 of file vpRobot.h.

Referenced by vpRobotFlirPtu::get_fJe(), and vpRobot::operator=().

◆ fJeAvailable

int vpRobot::fJeAvailable

protectedinherited

is the robot Jacobian expressed in the robot reference frame available

Definition at line 110 of file vpRobot.h.

Referenced by vpRobot::operator=(), vpRobotCamera::vpRobotCamera(), vpSimulatorCamera::vpSimulatorCamera(), vpSimulatorPioneer::vpSimulatorPioneer(), and vpSimulatorPioneerPan::vpSimulatorPioneerPan().

◆ h

const float vpPtu46::h = 0.068f

staticinherited

Horizontal offset along the last joint, from last joint to camera frame.

Definition at line 82 of file vpPtu46.h.

Referenced by vpPtu46::computeMGD(), and vpPtu46::get_cMe().

◆ L

const float vpPtu46::L = 0.0765f

staticinherited

Geometric model

Definition at line 81 of file vpPtu46.h.

Referenced by vpPtu46::computeMGD(), and vpPtu46::get_cMe().

◆ maxRotationVelocity

double vpRobot::maxRotationVelocity

protectedinherited

Definition at line 98 of file vpRobot.h.

Referenced by vpRobot::getMaxRotationVelocity(), vpRobotTemplate::init(), vpRobotFlirPtu::init(), vpRobot::operator=(), vpRobot::setMaxRotationVelocity(), setVelocity(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().

◆ maxRotationVelocityDefault

const double vpRobot::maxRotationVelocityDefault = 0.7

staticprotectedinherited

Definition at line 99 of file vpRobot.h.

Referenced by vpRobotTemplate::init(), and vpRobotFlirPtu::init().

◆ maxTranslationVelocity

double vpRobot::maxTranslationVelocity

protectedinherited

Definition at line 96 of file vpRobot.h.

Referenced by vpRobot::getMaxTranslationVelocity(), vpRobotTemplate::init(), vpRobotFlirPtu::init(), vpRobot::operator=(), and vpRobot::setMaxTranslationVelocity().

◆ maxTranslationVelocityDefault

const double vpRobot::maxTranslationVelocityDefault = 0.2

staticprotectedinherited

Definition at line 97 of file vpRobot.h.

Referenced by vpRobotTemplate::init(), and vpRobotFlirPtu::init().

◆ ndof

const unsigned int vpPtu46::ndof = 2

staticinherited

Nombre d'articulations du robot. Number of dof

Definition at line 78 of file vpPtu46.h.

Referenced by getDisplacement(), getPosition(), getVelocity(), and readPositionFile().

◆ nDof

int vpRobot::nDof

protectedinherited

number of degrees of freedom

Definition at line 102 of file vpRobot.h.

Referenced by vpRobotTemplate::init(), vpRobotFlirPtu::init(), vpRobot::operator=(), vpRobotTemplate::setVelocity(), vpRobotFlirPtu::setVelocity(), vpRobotCamera::vpRobotCamera(), vpRobotFranka::vpRobotFranka(), vpSimulatorCamera::vpSimulatorCamera(), vpSimulatorPioneer::vpSimulatorPioneer(), and vpSimulatorPioneerPan::vpSimulatorPioneerPan().

◆ qmax

double* vpRobot::qmax

protectedinherited

Definition at line 114 of file vpRobot.h.

Referenced by vpRobot::operator=(), vpRobotCamera::vpRobotCamera(), vpSimulatorCamera::vpSimulatorCamera(), vpSimulatorPioneer::vpSimulatorPioneer(), vpSimulatorPioneerPan::vpSimulatorPioneerPan(), and vpRobot::~vpRobot().

◆ qmin

double* vpRobot::qmin

protectedinherited

Definition at line 113 of file vpRobot.h.

Referenced by vpRobot::operator=(), vpRobotCamera::vpRobotCamera(), vpSimulatorCamera::vpSimulatorCamera(), vpSimulatorPioneer::vpSimulatorPioneer(), vpSimulatorPioneerPan::vpSimulatorPioneerPan(), and vpRobot::~vpRobot().

◆ verbose_

bool vpRobot::verbose_

protectedinherited

Definition at line 116 of file vpRobot.h.

Referenced by vpRobotAfma4::init(), vpRobotAfma6::init(), vpRobotViper650::init(), vpRobotViper850::init(), vpRobot::operator=(), vpRobotAfma4::vpRobotAfma4(), vpRobotAfma6::vpRobotAfma6(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ vpControlFrameType

◆ vpRobotStateType

Constructor & Destructor Documentation

◆ vpRobotPtu46() [1/2]

◆ vpRobotPtu46() [2/2]

◆ ~vpRobotPtu46()

Member Function Documentation

◆ computeMGD() [1/3]

◆ computeMGD() [2/3]

◆ computeMGD() [3/3]

◆ get_cMe()

◆ get_cVe()

◆ get_eJe() [1/2]

◆ get_eJe() [2/2]

◆ get_fJe() [1/2]

◆ get_fJe() [2/2]

◆ getDisplacement()

◆ getMaxRotationVelocity()

◆ getMaxTranslationVelocity()

◆ getPosition() [1/2]

◆ getPosition() [2/2]

◆ getPositioningVelocity()

◆ getRobotFrame()

◆ getRobotState()

◆ getVelocity() [1/2]

◆ getVelocity() [2/2]

◆ init()

◆ readPositionFile()

◆ saturateVelocities()

◆ setMaxRotationVelocity()

◆ setMaxTranslationVelocity()

◆ setPosition() [1/3]

◆ setPosition() [2/3]

◆ setPosition() [3/3]

◆ setPositioningVelocity()

◆ setRobotFrame()

◆ setRobotState()

◆ setVelocity()

◆ setVerbose()

◆ stopMotion()

Member Data Documentation

◆ areJointLimitsAvailable

◆ defaultPositioningVelocity

◆ eJe

◆ eJeAvailable

◆ fJe

◆ fJeAvailable

◆ h

◆ L

◆ maxRotationVelocity

◆ maxRotationVelocityDefault

◆ maxTranslationVelocity

◆ maxTranslationVelocityDefault

◆ ndof

◆ nDof

◆ qmax

◆ qmin

◆ verbose_